Yuichi Kitazumi

A Cooperative Self-Localization Method for Multi Agent System

Self-Localization is one of the important and basic problems for mobile robots to decide their behaviors, and especially for multi agent system using many autonomous mobile robots, position information is inevitable to achieve target tasks with cooperative behavior in dynamic changing environment. In this research, we assume the platform-situation, the RoboCup Middle Size League, where two or more robots and at least one landmark exist, and propose a landmark-position estimation method and a cooperative self-localization method. Both of them are developed based on the information sharing and probabilistic estimation. The results of evaluation indicate that the proposed system is effective to improve the accuracy of self-localization.

Concept of mechatronics safety and modularity design for an autonomous mobile soccer robot

In this paper, we describe the concept, design and implementation of a series of autonomous mobile soccer robots, named ldquoMusashirdquo robot, which have safety design which is based on ISO and a mechatronics modular architecture, to participate in the RoboCup middle-size league. In modularity design methodology, we show that the selection of a proper moving mechanism, a suitable vision system and a mechatronics modular architecture design can lead to realize a reliable, simple, and low cost robot comparing with most of car-like robots including many kinds of sensors and a complex design structure.